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Fix colorizer filter which returns null reference ptr #2336

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merged 1 commit into from
May 2, 2022
Merged

Fix colorizer filter which returns null reference ptr #2336

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1 change: 1 addition & 0 deletions realsense2_camera/include/named_filter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ namespace realsense2_camera
NamedFilter(std::shared_ptr<rs2::filter> filter, std::shared_ptr<Parameters> parameters, rclcpp::Logger logger, bool is_enabled=false, bool is_set_parameters=true);
bool is_enabled() {return _is_enabled;};
rs2::frameset Process(rs2::frameset frameset);
rs2::frame Process(rs2::frame frame);

protected:
void setParameters(std::function<void(const rclcpp::Parameter&)> enable_param_func = std::function<void(const rclcpp::Parameter&)>());
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8 changes: 6 additions & 2 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -601,9 +601,13 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)
}
if (original_depth_frame && _align_depth_filter->is_enabled())
{
rs2::frame frame_to_send;
if (_colorizer_filter->is_enabled())
original_depth_frame = _colorizer_filter->Process(original_depth_frame);
publishFrame(original_depth_frame, t,
frame_to_send = _colorizer_filter->Process(original_depth_frame);
else
frame_to_send = original_depth_frame;

publishFrame(frame_to_send, t,
DEPTH,
_image,
_info_publisher,
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12 changes: 12 additions & 0 deletions realsense2_camera/src/named_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,18 @@ rs2::frameset NamedFilter::Process(rs2::frameset frameset)
}
}

rs2::frame NamedFilter::Process(rs2::frame frame)
{
if (_is_enabled)
{
return _filter->process(frame);
}
else
{
return frame;
}
}


PointcloudFilter::PointcloudFilter(std::shared_ptr<rs2::filter> filter, rclcpp::Node& node, std::shared_ptr<Parameters> parameters, rclcpp::Logger logger, bool is_enabled):
NamedFilter(filter, parameters, logger, is_enabled, false),
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